JPH07229168A - Method for transmitting vehicle information, and device therefor - Google Patents

Abstract

PURPOSE:To quickly conform the occurrence of an abnormality of a construction machine vehicle remotely controlled in the unmanned state. CONSTITUTION:A radio control receiving device 2 and a vehicle information transfer transmitting device 3 containing a microcomputer are loaded on a construction machine vehicle 1. The radio control receiving device 2 on the vehicle side receives the radio wave transmitted from a radio control transmitting device 4 operated by an operator to give an operation instruction to the vehicle 1 and a working machine 1a. The vehicle information transfer transmitting device 3 on the vehicle transmits, by radio waves, the hourly changed vehicle information such as the operating state of each part of the vehicle detected by various sensors 5 in the vehicle (normality/abnormality, abnormal level, abnormal position or the like), the engine rotating speed, and the radio control wave receiving level. The radio wave related to the vehicle information is received by a vehicle information transfer receiving device 6 containing a microcomputer set near the operator as a ground station.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle information transmitting method for obtaining vehicle information from an unmanned construction machine vehicle such as a bulldozer, a hydraulic excavator or a dump truck which is remotely controlled by a radio control (hereinafter referred to as a radio control), and a method thereof. It relates to the device.

[0002]

2. Description of the Related Art A construction machine vehicle equipped with a conventional radio control device is one-sided remotely operated by radio waves transmitted from an operator's radio-controlled control panel. It is not possible to accurately grasp the reception status of.

For example, when a lamp or a horn is attached to a vehicle to inform it of an abnormal situation, and the vehicle or the vehicle reaches an extreme state such that something abnormal occurs on the vehicle side and the vehicle becomes inoperable, the lamp or the horn is used. I try to inform you of that condition.

[0004]

However, since proper information on the vehicle side cannot be transmitted to the operator only by the lamp and the horn, the accurate operating state of the vehicle cannot be grasped and a serious failure occurs in the vehicle. I go to the vehicle each time to check the vehicle, but at work sites where there is a high risk of high-temperature gas, harmful gas, obstacles, etc. that cannot be approached, the breakdown progresses to the extent that the vehicle cannot operate. If you do, it will be very difficult to deal with.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle information transmission method and an apparatus therefor capable of promptly coping with the occurrence of an abnormality in a construction machine vehicle which is remotely controlled in an unmanned state. To do.

[0006]

According to a first aspect of the present invention, a construction machine vehicle is remotely controlled by radio waves transmitted from a ground station, and vehicle information that changes from moment to moment is returned by radio waves. The vehicle information transmission method is configured so that the vehicle information is received at the ground station.

According to a second aspect of the present invention, in a construction machine vehicle that is remotely controlled by radio waves transmitted from a ground station, vehicle part sensors provided in each part of the construction machine vehicle to detect information of each part of the vehicle, A vehicle information transmission / transmission device mounted on a vehicle that transmits the vehicle information detected by the vehicle sensor to a radio wave; and a vehicle information transmission / reception device of a ground station that receives the vehicle information transmitted from the vehicle information transmission / transmission device. It is a vehicle information transmission device having a configuration including.

According to a third aspect of the present invention, the vehicle information transmission / transmission device according to the second aspect collects vehicle information detected by sensors of each part of the vehicle to determine at least the presence / absence of an abnormality and the location of the abnormality. The vehicle information processing device for determining the radio wave reception level on the side and the data transmission unit including an antenna for transmitting the data processed by the vehicle information processing device to the ground station.

According to a fourth aspect of the present invention, the vehicle information transmission / reception device according to the second aspect monitors the data receiving unit including the antenna and the vehicle information received by the data receiving unit by displaying it on the screen. And a screen processing device for displaying.

According to a fifth aspect of the present invention, the vehicle information transmission / reception device according to the second or fourth aspect is connected to a reading / writing device for reading the received vehicle information on a recording medium.

[0011]

According to the first aspect of the invention, the operator of the ground station remotely operates the construction machine vehicle while the operator of the ground station monitors and judges the status of the vehicle returned by the radio wave from the construction machine vehicle in real time.

According to the second aspect of the present invention, the information of each part of the vehicle is detected by the sensor of each part of the vehicle, and the vehicle information is transmitted by radio waves from the vehicle information transmission / transmission device mounted on the vehicle. It is received by the transmission receiver.

According to a third aspect of the present invention, the vehicle information processing apparatus processes the vehicle information signals from the sensors of the vehicle to determine the presence / absence of an abnormality and the location of the abnormality, and determine the radio wave reception level on the vehicle side. , The data transmission unit transmits to the ground station.

According to a fourth aspect of the invention, the vehicle information received by the data receiving unit is screen-displayed by the screen processing device and displayed on the monitor.

According to a fifth aspect of the present invention, the vehicle information read by the reading / writing device on the receiving side is recorded in a recording medium.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings.

As shown in FIG. 1, a construction machine vehicle 1 is equipped with a radio control reception device 2 and a vehicle information transmission / transmission device 3 with a built-in microcomputer. The radio control receiver 2 on the vehicle side receives the radio wave transmitted from the radio control transmitter 4 operated by the operator, and gives an operation command to the vehicle 1 and the work implement 1a.

Further, a vehicle information transmission / transmission device 3 mounted on the vehicle
Is a wireless radio wave for vehicle information that changes from moment to moment such as operating status of each part of the vehicle (normal / abnormal, abnormal level and abnormal location, etc.) detected by various sensors 5 in the vehicle, engine speed and radio control radio reception level. send. The radio wave relating to the vehicle information is received by the vehicle information transmission / reception device 6 with a built-in microcomputer installed as a ground station near the operator.

In this vehicle information transmission / reception device 6, a data reception unit (wireless reception device) 63 formed by protruding an antenna 62 is detachably attached to a battery unit 61 having a built-in battery as a power source. A screen processing device 64 (including a monitor device 65) described later in the unit 63.
Are electrically connected. The screen processing device 64 is installed on the ground by a stand 66.

The radio wave used between the radio control transmitter 4 and the radio control receiver 2 is completely different from the radio wave used between the vehicle information transmission transmitter 3 and the vehicle information transmission receiver 6. Use radio waves in the frequency band.

As shown in FIG. 2, a liquid crystal display screen with a backlight selectable is used for the monitor device 65 of the vehicle information transmission / reception device 6, and a vehicle operation information display portion 65a and an engine speed are provided on the screen. The display unit 65b, the radio control operation radio wave reception level display unit 65c, the radio control target machine number display unit 65d, and the operating time display unit 65e are provided, and each corresponding display is performed in real time. The monitor device 65 may use a bidirectional touch panel.

The vehicle operation information display section 65a is used for a vehicle electric monitoring system (vehicle EM) which will be described later.
The normality or abnormality of the operating state detected by S) is displayed, and in the case of abnormality, the abnormal place and the abnormality level (alarm level 1, 2, 3) indicating the degree of abnormality by a numerical value are displayed.

The engine speed display section 65b and the radio-controlled radio wave reception level display section 65c each have a plurality of display elements arrayed, and the display element number changes according to the engine speed level and the radio-controlled radio wave reception level. Display each level in bar graph in real time.

An alarm lamp 67a, a buzzer stop button 67b for stopping an alarm buzzer (not shown), a backlight switch 67c for selecting a backlight on the liquid crystal display screen, and a power switch 67d are arranged on one side of the display screen. .

FIG. 3 shows the vehicle information transmission / transmission device 3. The vehicle information transmission / transmission device 3 includes sensors 5 for various parts of the vehicle.
A vehicle information processing device 31 that collects vehicle information detected by the device and determines whether or not an abnormality has occurred, and an antenna that transmits data processed by the vehicle information processing device 31 to a ground station
And a data transmission unit (wireless transmission device) 33 including 32.

The vehicle information processing device 31 has a central processing unit (hereinafter referred to as CPU) 31a, an engine oil hydraulic pressure monitoring sensor 5a, a cooling water temperature monitoring sensor 5b, a hydraulic circuit of a vehicle electric monitoring system (vehicle EMS). Relay switches for various sensors such as hydraulic oil temperature monitoring sensor 5c, brake air pressure monitoring sensor and torque converter oil temperature monitoring sensor are parallel input / output interface 31
b (Hereinafter, the input / output interface is described as I / O)
Connected through.

Similarly, a direction sensor 5d such as a gyroscope for detecting the direction of the vehicle, and a reception level sensor 5e for detecting the strength of the radio wave received by the radio control receiver 2 of the vehicle, that is, the radio wave reception level state. Are connected to the CPU 31a via serial I / O 31c.

Similarly, the engine speed (R
An engine speed sensor 5f for detecting PM and a vehicle speed sensor 5g for detecting the traveling speed of a vehicle (such as a dump truck) are connected to the CPU 31a via the counter interface 31d.

Furthermore, an inclination sensor 5h for detecting the inclination angle of the vehicle in the front-rear direction and the left-right direction, a working machine for operating a bucket of a hydraulic excavator, a blade of a bulldozer, and the like.
The work machine sensor 5i such as a potentiometer for detecting the attitude signal of 1a is connected to the CPU 3 via the A / D converter 31e.
It is connected to 1a.

The CPU 31a includes a read only memory (ROM) 31f and a random access memory (RA).
M) 31g equipped with a signal from each of the above sensors to determine whether an abnormality has occurred. If an abnormality has occurred, determine the location and level of the abnormality, measure the engine speed, and also determine the radio-controlled radio wave reception level. In addition, the traveling state of the vehicle 1 (travel speed, etc.) detected by the sensor and the working machine 1a
It has program software for determining the posture state of.

The information processed by the CPU 31a is transmitted to the operator-side ground station from the connected data transmission unit (onboard radio transmission device) 33 via the serial I / O 31h.

FIG. 4 shows a vehicle information transmission / reception device 6 of the ground station. This vehicle information transmission / reception device 6 includes a data reception unit (radio reception device) 63 including an antenna 62 and this data reception as described above. A screen processing device for screen-processing the vehicle information received by the unit 63 and displaying it on a monitor
It is composed of 64 and.

The screen processing device 64 is mainly composed of a CPU 64a, and the data receiving unit 63 has a serial I / O 6 unit.
It is connected to the CPU 64a via 4b, and the monitor device 65 (including a touch panel) is connected to the CPU 64a. Furthermore, recording medium (external memory such as IC card)
The read / write device (read / write means) 68 for recording the received data in the CPU 6 is connected to the CPU 6 via the serial I / O 64c.
It is connected to 4a.

The CPU 64a of the screen processing device 64 is provided with a read only memory (ROM) 64d and a random access memory (RAM) 64e. The screen display process corresponding to the monitor device 65, the screen input process corresponding to the touch panel,
The read / write device (read / write means) 68 has program software for performing external memory input / output processing.

Next, FIGS. 5 and 6 are flowcharts showing the processing procedure of the vehicle information transmission / transmission device 3 and the vehicle information transmission / reception device 6. The step numbers of the processing procedure are indicated by circled numbers in FIGS. 5 and 6.

FIG. 5 is a flow chart showing the processing procedure of the vehicle information transmission / transmission device 3 on the vehicle side. Initialization is carried out to always process the program under the same conditions (step 1), and then various sensors of the vehicle EMS. Detected vehicle operation information, the strength of the radio wave received by the radio control receiver 2 of the vehicle, that is, the radio control radio reception level,
Engine speed sensor 5f, vehicle speed sensor 5g, direction sensor 5d
And various vehicle information such as various data detected by the tilt sensor 5h and working machine attitude data detected by the working machine sensor 5i are fetched into the CPU 31a (step 2),
Next, it is checked whether or not the engine is operating (step 3), and if the engine is operating, then it is determined whether or not the vehicle operating condition is abnormal from the vehicle operating information from the vehicle EMS (step 3). 4) If the engine is not operating after this abnormality determination or in step 3, step 4
Without performing any abnormality determination, the work status is determined from the radio control reception level on the vehicle side and the attitude information of the work equipment (step 5), and then these various temporal data are temporarily stored in preparation for transmission. (Step 6), the data is transmitted from the vehicle information transmission / transmission device 3 to the vehicle information transmission / reception device 6 of the ground station (step 7), and it is confirmed whether or not the transmission of the accumulated information is completed (step 8). The error processing is performed until the transmission is completed (step 9), and when the completion of the transmission is confirmed, the process returns to step 2 and the same processing procedure is repeated.

FIG. 6 is a flow chart showing a processing procedure of the vehicle information transmission / reception device 6 in the ground station. Initialization is performed (step 10), and the data transmitted from the vehicle information transmission / transmission device 3 is received (step 10). 11), it is confirmed whether or not the data reception is completed (step 12), error processing is performed during the data reception (step 13), and when the reception is confirmed, the data is displayed on the monitor device 65 (step 1).
4) By the input operation on the touch panel of the monitor device 65 (step 15), the data is accumulated in the RAM 64e (step 16), the process returns to step 11, and the same processing procedure is repeated.

The various data accumulated in step 16 are read by the reading / writing device 68 connected to the receiving device 6, recorded in a recording medium such as an IC card, and stored.

As described above, the vehicle information transmission / transmission device 3 attached to the vehicle analyzes the failure diagnosis of the construction machine vehicle operated by radio control remote control, the reception state of radio waves, the operating status, etc., and the information is analyzed by radio waves. By returning the information to the vehicle information transmission / reception device 6 on the ground side, the operator can judge the operating status of the construction machine vehicle in real time while observing the monitor device 65.

When an abnormality occurs in the EMS check item or when the radio control reception level falls below a certain value, an alarm lamp or a buzzer provided in the monitor device 65 is activated to cause an abnormality in the operator. Inform.
At that time, by looking at the display section 65a relating to the vehicle operation information of the vehicle information transmission / reception device 6, it is possible to confirm the defective portion of the vehicle and its degree, and it is possible to take immediate action. Further, by confirming the reception level state on the radio control radio wave reception level display portion 65c, the workable area can be accurately determined. further,
While confirming the engine speed display section 65b, the engine acceleration operation can be accurately performed according to the vehicle status and work status. The recording medium read and recorded by the read / write device 68 of the ground station enables proper operation management.

[0041]

According to the invention described in claim 1, while the operator remotely controls the construction machine vehicle by radio waves, the vehicle information can be grasped in real time by the radio waves returned from the vehicle side, and in an unmanned state. It is possible to quickly respond to the occurrence of abnormalities in construction machinery vehicles. Also, this method is safe because the vehicle information can be obtained without approaching the vehicle.

According to the second aspect of the present invention, a large amount of vehicle information detected by the sensor of each part of the vehicle is transmitted from the on-vehicle vehicle information transmission / transmission device to the vehicle information transmission / reception device of the ground station by radio waves. Therefore, the operator can immediately confirm the occurrence of an abnormal condition of the construction machine vehicle and the abnormal place in an unmanned state while grasping the operating status of each part of the vehicle in real time and can take immediate action. In particular, short-term trouble countermeasures can be taken because information on the location of the abnormality has been obtained.

According to the third aspect of the present invention, the vehicle information processing apparatus determines the occurrence of an abnormality and the level of radio wave reception on the vehicle side. Therefore, the vehicle can be operated while grasping the radio wave reception state. The workable area can be determined and specified.

According to the fourth aspect of the present invention, the vehicle information is displayed on the monitor by the screen processing device, so that the operator can understand the location of the abnormality at a glance, and the advantage that the abnormality can be dealt with swiftly and accurately. is there.

According to the fifth aspect of the present invention, it is not necessary to mount a recording medium and a reading / writing device useful for managing the operating condition of the construction machine vehicle on the vehicle side, and the vibration and temperature environment on the vehicle side can be used. It will be possible to ensure certainty through vehicle operation management, etc., without any problems being affected.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an example of a vehicle information transmission method and a device thereof according to the present invention.

FIG. 2 is a front view showing a screen processing device on the receiving side of the above vehicle information transmission device.

FIG. 3 is a block diagram showing a configuration of a transmission side of the vehicle information transmission device of the above.

FIG. 4 is a block diagram showing a configuration of a receiving side of the above vehicle information transmission device.

FIG. 5 is a flowchart showing a processing procedure on the transmission side of the vehicle information transmission device of the above.

FIG. 6 is a flowchart showing a processing procedure on the receiving side of the above vehicle information transmission device.

[Explanation of symbols]

 1 Construction Machinery Vehicle 3 Vehicle Information Transmission / Transmission Device 5 Vehicle Parts Sensors 6 Vehicle Information Transmission / Reception Device 31 Vehicle Information Processing Device 32 Antenna 33 Data Transmission Unit 62 Antenna 63 Data Reception Unit 64 Screen Processing Device 68 Read / Write Device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masahiro Hiroike 227 Tsukamoto, Kannan-cho, Takata-gun, Shizuoka Prefecture

Claims (5)

[Claims] 1. A remote control of a construction machine vehicle by a radio wave transmitted from a ground station, a time-varying vehicle information from the construction machine vehicle is returned by a radio wave, and the vehicle information is received by the ground station. Characteristic vehicle information transmission method. 2. A construction machine vehicle that is remotely operated by radio waves transmitted from a ground station. A vehicle part sensor provided in each part of the construction machine vehicle for detecting information of each part of the construction machine, and a vehicle part sensor for detecting the information. A vehicle information transmission / transmission device mounted on the vehicle for transmitting the vehicle information by radio waves; and a vehicle information transmission / reception device of a ground station for receiving the vehicle information transmitted from the vehicle information transmission / transmission device. Vehicle information transmission device. 3. The vehicle information transmission / transmission device collects vehicle information detected by sensors of the vehicle to determine at least presence / absence of an abnormality and an abnormal portion, and also determines a radio wave reception level on the vehicle side. The vehicle information transmission device according to claim 2, further comprising: a data transmission unit including an antenna for transmitting the data processed by the vehicle information processing device to a ground station. 4. The vehicle information transmission / reception device is provided with a data reception unit including an antenna, and a screen processing device for screen-displaying the vehicle information received by the data reception unit and displaying it on a monitor. The vehicle information transmission device according to claim 2. 5. The vehicle information transmission device according to claim 2, wherein the vehicle information transmission / reception device is connected to a read / write device for reading the received vehicle information and recording it on a recording medium.